JPS62292387A - Wrist device for robot - Google Patents
Wrist device for robotInfo
- Publication number
- JPS62292387A JPS62292387A JP61135968A JP13596886A JPS62292387A JP S62292387 A JPS62292387 A JP S62292387A JP 61135968 A JP61135968 A JP 61135968A JP 13596886 A JP13596886 A JP 13596886A JP S62292387 A JPS62292387 A JP S62292387A
- Authority
- JP
- Japan
- Prior art keywords
- shaft
- wrist
- transmission shaft
- arm
- power transmission
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000000707 wrist Anatomy 0.000 title claims description 55
- 230000005540 biological transmission Effects 0.000 claims description 102
- 239000003638 chemical reducing agent Substances 0.000 claims description 17
- 230000007246 mechanism Effects 0.000 claims description 15
- 238000012423 maintenance Methods 0.000 claims description 7
- 230000009467 reduction Effects 0.000 claims description 6
- 210000000245 forearm Anatomy 0.000 description 29
- 238000005452 bending Methods 0.000 description 24
- 230000033001 locomotion Effects 0.000 description 10
- 230000008878 coupling Effects 0.000 description 7
- 238000010168 coupling process Methods 0.000 description 7
- 238000005859 coupling reaction Methods 0.000 description 7
- 238000012545 processing Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 239000000565 sealant Substances 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/19—Gearing
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/19—Gearing
- Y10T74/19023—Plural power paths to and/or from gearing
- Y10T74/19051—Single driven plural drives
- Y10T74/1906—Nonparallel
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20329—Joint between elements
- Y10T74/20335—Wrist
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
３、発明の詳細な説明
〔産業上の利用分野〕
本発明はロボットの手首装置に係り、とりわけ手首部に
減速機を内蔵し、３つの直交した回転自由度を駆動する
手σ装置に関する。[Detailed Description of the Invention] 3. Detailed Description of the Invention [Field of Industrial Application] The present invention relates to a wrist device for a robot, and in particular, the wrist device has a built-in speed reducer and drives three orthogonal rotational degrees of freedom. Regarding the hand σ device.
近年の工業用ロボットにおいては、例えば自カ車の車体
内部に作業具およびこれを保持する手首部、さらには手
首部を支持する腕の一部を挿入して溶接、シール剤の塗
布９部品の組立等の作業を可能にするため手首部の小形
・軽軟化と腕の小口径化さらには動作の高速・高精度化
が要求されている。また、挿入場所において作業具の姿
勢を任意に選び得ることが必要であり、このため手首装
置には通常３つの回転自由度が要求されている。In modern industrial robots, for example, the working tool, the wrist that holds it, and part of the arm that supports the wrist are inserted into the body of the own vehicle, welded, and coated with sealant. In order to make assembly and other tasks possible, there is a need for smaller, lighter, and more flexible wrists, smaller diameter arms, and faster, more precise movements. Furthermore, it is necessary to be able to arbitrarily select the posture of the work tool at the insertion location, and for this reason, wrist devices are usually required to have three rotational degrees of freedom.
これらの要求を満す工業用ロボットの手首装置としては
例えば特開昭６０−４４２９１号公報に記載されたもの
がある。An example of a wrist device for an industrial robot that satisfies these requirements is disclosed in Japanese Patent Laid-Open No. 60-44291.
前述した工業川口ボットの手首装置は、互いに直交し一
点で交わる３つの回転自由度を備えた手首部を有し、手
首部内部に高減速化を有する減速機を徂込み、腕後端部
に取付けられた駆動モータの回転動力を、腕内部を貫通
する３重構造の伝達軸さらには手首内部に配設された歯
車等を介して被駆動部材直前で減速し、旋回駆動してい
る。特に上記自由度構成としたことで手首部が作業領域
内に占有する体積が小さいこと、減速機を動力伝達系の
最終段に配置したことにより歯車等のバックラッシュに
起因した位置決め精度の低下および自由度相互の動作の
干渉を極力抑えられること。The wrist device of the industrial Kawaguchi bot mentioned above has a wrist part with three rotational degrees of freedom that are orthogonal to each other and intersect at one point, and a reducer with high deceleration is installed inside the wrist part, and a reducer with high deceleration is installed inside the wrist part. The rotational power of the attached drive motor is decelerated directly in front of the driven member via a three-layer transmission shaft passing through the inside of the arm and a gear disposed inside the wrist, thereby driving the driven member. In particular, with the above-mentioned degree of freedom configuration, the volume occupied by the wrist within the working area is small, and the positioning of the reducer at the final stage of the power transmission system reduces positioning accuracy due to backlash of gears, etc. Interference between degrees of freedom should be suppressed as much as possible.
駆動モータから減速機入力軸迄の動力伝達系が小形・軽
量にできることなどの特徴を持つ。Features include the fact that the power transmission system from the drive motor to the input shaft of the reducer can be made smaller and lighter.
しかし、この手４装置は腕を貫通する軸長の長い３重の
同軸差動機構によって手首部へ動力を伝達する構成をと
っている。軸を３重ｔ４造にした場合、外周に配置され
る軸の最小内径は内部を通る軸の外径あるいは両軸の端
部にあって軸相互をＭ転支持する軸受の寸法によって決
定される。このため、特に２亜目、３重目の伝達軸の口
径が必要以上に太くなる。これによって重量が増加し、
しかも軸回りのイナーシャも増大する。この必要以上に
大口径化するのは１手首内部で２重目の軸端部に取付け
られ、方向変換を行なう一組の傘歯車についても同様で
ある。加えて、この手首装置では最内軸および２重目の
軸は手首内に組込まれた減速機へ動力を伝達する軸であ
り、駆動モータの出力回転に近い速度で高速回転する。However, this hand 4 device is configured to transmit power to the wrist by a triple coaxial differential mechanism with a long axis that passes through the arm. When the shaft is made of triple T4 construction, the minimum inner diameter of the shaft placed on the outer periphery is determined by the outer diameter of the shaft passing inside or the dimensions of the bearings at the ends of both shafts that support the shafts in M rotation. . For this reason, the diameters of the second and third transmission shafts in particular become larger than necessary. This increases the weight and
Moreover, the inertia around the axis also increases. This unnecessarily large diameter also applies to a set of bevel gears which are attached to the end of the second shaft inside one wrist and which change direction. In addition, in this wrist device, the innermost shaft and the second shaft are shafts that transmit power to a speed reducer built into the wrist, and rotate at high speeds close to the output rotation of the drive motor.
従って、特に２重目の伝達軸を駆動する駆動モータでは
必要以上の動力がこれら伝達要素を高速回転するために
消費されることになり、好ましいものではない。Therefore, especially in the drive motor that drives the second transmission shaft, more power than necessary is consumed to rotate these transmission elements at high speed, which is not preferable.
また軸長が長く両端で軸受を介して支持すること、高速
回転すること、３重構造であることから精密な軸加工を
要し、さらに組立、保守が１！雑になる。In addition, since the shaft is long and supported via bearings at both ends, rotates at high speed, and has a triple structure, precise shaft machining is required, and assembly and maintenance are easy! It gets messy.
また１例えば大型車の車体内部等へシール剤の塗布作業
を行なうロボットでは腕の長さをさらに長くすることが
要求されるが、この場合上述した欠点がさらに増長され
、特に高速回転する軸では自重によって軸が曲げ変形を
起し過大な振動を誘発する可能性があった。このため椀
の外径を維持したままで腕の長さを長くするには限界が
あった。In addition, for example, a robot that applies sealant to the inside of a large car body is required to have an even longer arm, but in this case the above-mentioned drawbacks are further exacerbated, especially when using a shaft that rotates at high speed. There was a possibility that the shaft would bend and deform due to its own weight, inducing excessive vibration. For this reason, there was a limit to how long the arm could be lengthened while maintaining the outer diameter of the bowl.
本発明は上述の事柄にもとづいてなされたもので、駆動
用モータの効率的な運用と、加工・組立・保守の簡便化
および腕の長さを長くするのにも好適なロボットの手首
装置を提供することを目的とする。The present invention has been made based on the above-mentioned issues, and provides a wrist device for a robot that is suitable for efficient operation of a drive motor, simplification of processing, assembly, and maintenance, and also for increasing the length of the arm. The purpose is to provide.
本発明の上記目的は、腕内部の動力伝達手段として腕を
貫通する３本の伝動軸を互いに平行に配置し、主たる第
１の伝動軸の外周に複数個のフランジを周設し、第２の
伝動軸および第３の伝動軸を前記フランジ間で分割、軸
承し、さらに軸継手によって連結形成したこと、および
腕の後端部に突出したモータ保持枠に駆動モータを取付
け、モータ保持枠内に短軸寸法の同軸差動機構を配置す
ることにより、達成される。The above-mentioned object of the present invention is to arrange three power transmission shafts passing through the arm in parallel to each other as a power transmission means inside the arm, provide a plurality of flanges around the outer periphery of the main first power transmission shaft, and provide a second power transmission shaft. The transmission shaft and the third transmission shaft are divided and supported between the flanges, and further connected by a shaft coupling, and the drive motor is attached to a motor holding frame protruding from the rear end of the arm, and the drive motor is mounted inside the motor holding frame. This is achieved by arranging a coaxial differential mechanism with a short axis dimension.
３本の伝動軸を互いに平行に配置したことで、伝動軸の
口径は他の軸径に影響を受けず単独で寸法諸元が決定で
きる。また、同軸差動機構を短軸寸法に形成できること
から各伝動軸の軸イナーシャを最適にできる。これによ
って駆動モータ動力の効率的な運用が可能にできる。ま
た、伝動軸を互いに平行配置したことで軸支持が簡便に
なる。By arranging the three transmission shafts parallel to each other, the dimensions of the diameter of the transmission shaft can be determined independently without being affected by the diameters of other shafts. Furthermore, since the coaxial differential mechanism can be formed with a short axis dimension, the axial inertia of each transmission shaft can be optimized. This enables efficient use of drive motor power. Furthermore, by arranging the transmission shafts parallel to each other, shaft support becomes simple.
これによって軸の加工９組立、保守が容易となる。This facilitates processing, assembly, and maintenance of the shaft.
また、高速回転する伝動軸を軸方向で分割、支持できる
ことから、伝動軸の自重によって生じる曲げ振動を極力
抑止できる。このことから腕の口径をさほど太くせずに
腕の長さを長くすることも可能なる。Furthermore, since the transmission shaft rotating at high speed can be divided and supported in the axial direction, bending vibrations caused by the weight of the transmission shaft can be suppressed as much as possible. This makes it possible to increase the length of the arm without increasing the diameter of the arm too much.
以下１本発明を添付図面に示す実施例に基づいて詳細に
説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below based on embodiments shown in the accompanying drawings.
第３図は本発明による手首装置の一実施例を適用した多
関節形工業用ロボットの全体構成を示す斜視図である。FIG. 3 is a perspective view showing the overall configuration of an articulated industrial robot to which an embodiment of the wrist device according to the present invention is applied.
同第３図において、工業用ロボットは基台１ｏ上に旋回
台１が矢印Ｉで示す両方向１０に取付けられた駆動モー
タＭ１から基台１０の内部に設けられた動力伝達手段及
び減速手段を介して旋回駆動されるよう構成されている
。旋回台１の上板１１上には上腕２が矢印■で示す両方
向に揺動可能に取付けられており、旋回台１上に取付け
られた駆動モータＭ２から揺動機構部２１を介して揺動
駆動される。この上腕２の上端には前腕３が矢印■で示
す両方向に起伏可能に取付けられている。前腕３は旋回
台１上に取付けられたモータＭδから揺動４！１構部３
１、レバ３２、リンク３３を介して動力が伝達されるこ
とにより起伏動作する。また、前腕３の前方延長部には
手首部７が取付けられている。手首部７は手元ケーシン
グ４と、この手元ケーシング４に保持された中ケーシン
グ５と、さらにこの中ケーシング５に保持された手先ケ
ーシング６とを具備し、手元ケーシーング４は前腕３に
対して矢印■で示す両方向に旋回自由に、中ケーシング
５は手元ケーシング４に対して矢印■で示す両方向に揺
動自由に１手先ケーシング６は中ケーシング５に対して
矢印■で示す両方向に同軸自由に形成されている。また
、前腕後方の辺延長部には、手首動力部８が設けられて
おり、上述した手元ケーシング４、中ケーシング５、手
先ケーシング６をそれぞれ駆動するための駆動モータＭ
ａ 、ＭＩＳ、Ｍｓがモータ保持枠９を介して取付けら
れている。さらに、上述したモータ保持枠９、前腕３、
手首部７には以下に詳述する同軸差動機および歯車や軸
等の伝達要素が組込まれており、これらを介して手元ケ
ーシング４、中ケーシング５１手先ケーシング６が前述
したそれぞれの矢印方向に回転あるいは揺動動作するよ
う構成されている。In FIG. 3, the industrial robot has a swivel base 1 mounted on a base 1o, which transmits power from a drive motor M1 mounted in both directions 10 indicated by an arrow I through power transmission means and deceleration means provided inside the base 10. It is configured to be driven in rotation. The upper arm 2 is mounted on the upper plate 11 of the swivel base 1 so as to be able to swing in both directions indicated by the arrow ■. Driven. A forearm 3 is attached to the upper end of the upper arm 2 so as to be able to rise and fall in both directions as indicated by the arrow ■. The forearm 3 is oscillated by a motor Mδ mounted on the swivel table 1.
1. The raising and lowering operation is performed by transmitting power through the lever 32 and the link 33. Further, a wrist portion 7 is attached to the front extension portion of the forearm 3. The wrist portion 7 includes a hand casing 4, a middle casing 5 held by the hand casing 4, and a hand casing 6 held by the middle casing 5. The middle casing 5 can freely swing in both directions shown by arrow ■ with respect to the hand casing 4, and the first hand casing 6 can freely swing in both directions shown with arrow ■ with respect to the middle casing 5. has been done. Further, a wrist power unit 8 is provided on the rear side extension portion of the forearm, and a drive motor M for driving the above-mentioned hand casing 4, middle casing 5, and hand casing 6, respectively.
a, MIS, and Ms are attached via a motor holding frame 9. Furthermore, the above-mentioned motor holding frame 9, forearm 3,
The wrist portion 7 incorporates a coaxial differential and transmission elements such as gears and shafts, which will be described in detail below, through which the hand casing 4, middle casing 51, and hand casing 6 rotate in the directions of the respective arrows mentioned above. Alternatively, it is configured to swing.
なお、第３図に示した実施例は多関節形の工業用ロボッ
トの実施例を示したが、直交座標形のロボットなど他の
構造形態をとる工業用ロボットに対しても以下に詳述す
る本発明の手首装置が適用可能であることは言うまでも
ない。Although the embodiment shown in FIG. 3 is an example of an articulated industrial robot, industrial robots having other structural forms such as a Cartesian coordinate robot will also be described in detail below. It goes without saying that the wrist device of the present invention is applicable.
第１図および第２図は、本発明による工業用ロボットの
手首装置の一実施例を示す略示機構図である。なお、第
１図は簡略のために第３図で示した手首部７と前腕３の
前半部のみを示したもので、第２図は同様に第３図で示
した手首動力部８と前腕３の後半部のみを示したもので
ある。まず、第１図を用いて手首部７の構成を中心に詳
述する。1 and 2 are schematic mechanical diagrams showing an embodiment of the wrist device for an industrial robot according to the present invention. For simplicity, FIG. 1 shows only the wrist part 7 and the front half of the forearm 3 shown in FIG. 3, and FIG. 2 shows the wrist power part 8 and the forearm shown in FIG. Only the latter half of 3 is shown. First, the configuration of the wrist portion 7 will be explained in detail with reference to FIG.
さて、第１図において、前記前腕３の内部には中空の回
転用伝動軸４１が設けられており、端部には前腕３の先
端から突出する前フランジ４２が周設されている。この
前フランジ４２は１組の回転軸受３１．３２を介して前
腕３に対して旋回自由に軸承されており、さらにこの前
フランジ４２には凹形の前記手元ケーシング４が固着さ
れている。Now, in FIG. 1, a hollow rotation transmission shaft 41 is provided inside the forearm 3, and a front flange 42 protruding from the tip of the forearm 3 is provided around the end thereof. The front flange 42 is rotatably supported on the forearm 3 via a pair of rotary bearings 31, 32, and the concave hand casing 4 is fixed to the front flange 42.
また、前フランジ４２は前腕３と回転用伝動軸４１との
空隙から手元ケーシング４内に到る曲げ用伝動軸５１ａ
およびひねり用伝動軸６１ａをそれぞれ回転軸受３３．
３４を介して支持している。In addition, the front flange 42 has a bending transmission shaft 51a that extends from the gap between the forearm 3 and the rotation transmission shaft 41 into the hand casing 4.
and the twisting transmission shaft 61a are respectively connected to the rotation bearings 33.
It is supported via 34.
なお、回転用伝動軸４１、曲げ用伝動軸５１ａ、ひねり
用伝動軸６１ａそれぞれは互いに平行に配置されている
。さらに、手元ケーシング４の内部に到る曲げ用伝動軸
５１ａの端部にはユニバーサルジヨイント２００が嵌着
されており、ユニバーサルジヨイント２００の他方端は
手元ケーシング４の外壁から回転軸受７３．７４によっ
て支持された曲げ用駆動軸５２に嵌着している。なお、
曲げ用駆動軸５２も曲げ用伝動軸５１と平行に配置され
ている。この曲げ用駆動軸５２の他方端には傘歯車５３
が嵌着されている。一方、手元ケーシング４の凹部内に
は、前記中ケーシング５が回転軸受７１．７２を介して
回転自在に支持されている。この回転軸心は前記回・駅
用伝動軸４１の軸心と直交しており、この中ケーシング
５の回転端部と手元ケーシング４との間にハーモニック
ドライブ減速機５６が組込まれている。このハーモニッ
クドライブ；戊速機５６は中ケーシシング５の回転軸心
上にあって前述した傘歯車５３と噛合する傘歯車５４の
ｉｐＨ１５５に嵌着する入力車５６ａと、手元ケーシン
グ４に固定された固定車５６ｂと、中ケーシング５に固
定された出力車５６ｃとを具備し、該入力車５６ａと出
力車５６ ｒ、との間に高減速比が達成されるような装
置として形成されている。従って、軸５５の回転は大き
く減速されて中ケーシング５に伝達される。一方１手元
ケーシング４の内部に到るひねり用伝動軸６１ａには、
同様にユニバーサルジヨイント２０１、手元ケーシング
４の他方の外壁から回転軸受７５．７６によって支持さ
れたひねり用駆動軸６２、傘歯車６３がそれぞれ連結さ
れている。さらに傘歯車６３と噛合する傘歯車６４によ
って方向変換され、中ケーシング５の内部に到るひねり
用中軸６５が回転軸受７７．７８によって支持されてる
。さらにこのひねり用中軸６５の端部には傘歯軸６６が
嵌着されている。一方、中ケーシング５の前方には手先
ケーシング６が回転軸受８１を介して回転自在に支持さ
れている。この回転軸心は前記中ケーシング５の回転軸
心と直交しており、中ケーシング５と手先ケーシング６
との間には、第２のハーモニックドライブ減速機６９が
組込まれている。このハーモニックドライブ減速機６９
は手先ケーシング６の回転軸心上にあって前述した傘歯
車６６と噛合する傘歯車６７の軸６８に嵌着する入力車
６９ａと、中ケーシング５に固定された固定車６９ｂと
、手先ケーシング６に固定された出力車６９ｃとを具備
しており、軸６８の回転は大きく減速されて手先ケーシ
ング６に伝達される。Note that the rotation transmission shaft 41, the bending transmission shaft 51a, and the twisting transmission shaft 61a are arranged parallel to each other. Furthermore, a universal joint 200 is fitted to the end of the bending transmission shaft 51a that reaches the inside of the hand casing 4, and the other end of the universal joint 200 is connected to the rotation bearing 73.74 from the outer wall of the hand casing 4. It is fitted onto a bending drive shaft 52 supported by. In addition,
The bending drive shaft 52 is also arranged parallel to the bending transmission shaft 51. The other end of this bending drive shaft 52 has a bevel gear 53.
is fitted. On the other hand, inside the recess of the hand casing 4, the middle casing 5 is rotatably supported via rotary bearings 71 and 72. The axis of rotation is perpendicular to the axis of the rotation/station transmission shaft 41, and a harmonic drive reducer 56 is installed between the rotating end of the middle casing 5 and the hand casing 4. This harmonic drive; The device includes a wheel 56b and an output wheel 56c fixed to the inner casing 5, and is formed as a device that achieves a high reduction ratio between the input wheel 56a and the output wheel 56r. Therefore, the rotation of the shaft 55 is transmitted to the middle casing 5 with a large deceleration. On the other hand, the twist transmission shaft 61a that reaches the inside of the first hand casing 4 has a
Similarly, a universal joint 201, a twisting drive shaft 62 supported by rotary bearings 75 and 76 from the other outer wall of the hand casing 4, and a bevel gear 63 are connected, respectively. Further, a twisting center shaft 65 whose direction is changed by a bevel gear 64 that meshes with the bevel gear 63 and reaches the inside of the middle casing 5 is supported by rotary bearings 77 and 78. Further, a bevel shaft 66 is fitted to the end of this center shaft 65 for twisting. On the other hand, a hand casing 6 is rotatably supported in front of the middle casing 5 via a rotary bearing 81 . This rotational axis is perpendicular to the rotational axis of the middle casing 5, and the middle casing 5 and the end casing 6
A second harmonic drive reduction gear 69 is installed between the two. This harmonic drive reducer 69
The input wheel 69a is located on the rotation axis of the hand casing 6 and is fitted onto the shaft 68 of the bevel gear 67 that meshes with the aforementioned bevel gear 66, the fixed wheel 69b fixed to the middle casing 5, and the hand casing 6. The rotation of the shaft 68 is greatly reduced in speed and transmitted to the hand casing 6.
次に、第２図を用いて前腕３の後端部に取付けられた手
首動力部８の構成及び前腕３の内部構成について詳述す
る。さて、第２図において、前腕３の後端部には前記モ
ータ保持枠９が取付けられており、このモータ保持枠９
には前記駆動モータＭ！１．Ｍｅが直接、駆動モータＭ
４が補助枠９１を介して取付けられている。さらにこの
補助枠９１には第３のハーモニックドライブ減速機９２
が組込まれている。このハーモニックドライブ減速機９
２は駆動モータＭ４のモータ軸に嵌着する入力車９２ａ
と、補助枠９１に固定された固定車９２ｂと、回転軸受
９４を介して補助枠９１から回転自在に支持された円板
９３に固定された出力車９２ｃとを具備しており、駆動
モータＭ番の回転は大きく減速されて円板９３に伝達さ
れる。一方、前腕３の後端内部では前述した中空形状の
回転用伝動軸４１の軸端部に後フランジ４３が周設され
ており、回転軸受３５を介して前腕３に回転可能に支持
されている。また、後フランジ４３は前腕３と回転用伝
動軸４１との空隙から後フランジ４３を貫通して前記モ
ータ保持枠９内部に到る曲げ用伝動軸５１ｂおよびひね
り用伝動軸６１ｂをそれぞれ回転軸受３６．３７を介し
て支持している。なお１曲げ用伝動軸５１ｂおよびひね
り用伝動軸６１ｂはそれぞれ回転用伝動軸４１と平行に
配置されており、さらに前腕３の内部翰方向の略中間部
で、手首部７から到るそれぞれの曲げ用伝動軸５１ａお
よびひねり用伝動軸６１ａと軸継手４８．４９を介して
連結されている。さらに連結部近傍では回転軸受４４．
４５と４６．４７を介して回転用伝動軸４１の外周に支
持されている。Next, the configuration of the wrist power unit 8 attached to the rear end of the forearm 3 and the internal configuration of the forearm 3 will be described in detail using FIG. Now, in FIG. 2, the motor holding frame 9 is attached to the rear end of the forearm 3.
The drive motor M! 1. Me directly connects the drive motor M
4 is attached via an auxiliary frame 91. Furthermore, this auxiliary frame 91 has a third harmonic drive reducer 92.
is incorporated. This harmonic drive reducer 9
2 is an input wheel 92a fitted to the motor shaft of the drive motor M4.
A fixed wheel 92b fixed to the auxiliary frame 91, and an output wheel 92c fixed to a disc 93 rotatably supported from the auxiliary frame 91 via a rotation bearing 94. The rotation of the number is greatly reduced and transmitted to the disk 93. On the other hand, inside the rear end of the forearm 3, a rear flange 43 is provided around the shaft end of the aforementioned hollow-shaped rotation transmission shaft 41, and is rotatably supported by the forearm 3 via a rotation bearing 35. . Further, the rear flange 43 connects the bending transmission shaft 51b and the twisting transmission shaft 61b, which pass through the rear flange 43 from the gap between the forearm 3 and the rotational transmission shaft 41 and reach the inside of the motor holding frame 9, to rotation bearings 36, respectively. It is supported through .37. Note that the bending transmission shaft 51b and the twisting transmission shaft 61b are each arranged parallel to the rotation transmission shaft 41, and furthermore, the bending transmission shaft 51b and the twisting transmission shaft 61b are arranged in parallel with the rotation transmission shaft 41, and furthermore, each bending transmission shaft 51b and the twisting transmission shaft 61b are arranged in parallel with the rotation transmission shaft 41, and furthermore, each bending transmission shaft 51b and the twisting transmission shaft 61b are arranged in parallel with the rotation transmission shaft 41. It is connected to the power transmission shaft 51a and the twist power transmission shaft 61a via shaft couplings 48 and 49. Further, near the connecting portion, there is a rotating bearing 44.
It is supported on the outer periphery of the rotation transmission shaft 41 via 45, 46, and 47.
また、前腕３にはこの連結部の調整用窓３８゜３９が２
個所設けられており、調整用窓３８゜３９を覆うための
カバー２０２，２０３が取付けられている。一方、前述
したモータ保持枠９の内部には同軸差動機構１００が設
けられている。この同軸差動機構１００は、３重構造の
軸を中核に構成されており、最内軸１０１は一方端を前
記円板９３に嵌着し、他方端は前記後フランジ４３に固
着している。なお最内軸Ｌｏｔの軸心は回転用伝動軸４
１の軸心延長上に設けられている。同軸差動機構１００
の第２重日輪１０２は回転軸受１０４．１０５によって
最内軸１０１から軸承されており、−万端にはプーリ１
０７が、他方端には平歯車１０８が嵌着されている。こ
のプーリ１０７は、歯付ベルト８８、プーリ８７、軸８
６゜軸継手８５を介して駆動モータＭｓのモータ軸へ連
結されている。また他方端の平歯車１０８にはこれと噛
合する平歯車１１２が前述のひねり用伝動４６１ｂの端
部に嵌着されている。さらに同軸差動機４ｉ！１１００
の第３重日輪１０３は回転軸受１０６によって第２重自
軸から軸承されており。In addition, the forearm 3 has two adjustment windows 38° and 39 for this connecting part.
Covers 202 and 203 are attached to cover the adjustment windows 38 and 39. On the other hand, a coaxial differential mechanism 100 is provided inside the motor holding frame 9 described above. This coaxial differential mechanism 100 is constructed around a triple-structured shaft, and the innermost shaft 101 has one end fitted into the disc 93 and the other end fixed to the rear flange 43. . The axis of the innermost shaft Lot is the rotation transmission shaft 4.
It is provided on the extension of the axis of 1. Coaxial differential mechanism 100
The second double wheel 102 is supported from the innermost shaft 101 by rotary bearings 104 and 105, and - in all cases, the pulley 1
07, and a spur gear 108 is fitted to the other end. This pulley 107 includes a toothed belt 88, a pulley 87, and a shaft 8.
It is connected to the motor shaft of the drive motor Ms via a 6° shaft joint 85. Further, a spur gear 112 that meshes with the spur gear 108 at the other end is fitted onto the end of the aforementioned twist transmission 461b. Furthermore, coaxial differential 4i! 1100
The third double wheel 103 is supported from the second double shaft by a rotary bearing 106.
同様に一方端にはプーリ１０９が、他方端には平歯車１
１０が嵌着されている。このプーリ１０９は、歯付ベル
ト８４、プーリ８３、軸８２、軸継手８１を介して駆動
モータＭ＋ｓのモータ軸へ連結されている。また他方端
の平歯車１１０にはこれと噛合する平歯車１１１が前述
の曲げ用伝動軸５１ｂの端部に嵌着されている。Similarly, a pulley 109 is attached to one end, and a spur gear 1 is attached to the other end.
10 is fitted. This pulley 109 is connected to a motor shaft of a drive motor M+s via a toothed belt 84, a pulley 83, a shaft 82, and a shaft joint 81. Further, a spur gear 111 that meshes with the spur gear 110 at the other end is fitted onto the end of the aforementioned bending transmission shaft 51b.
つぎに、第１図および第２図に示した一実施例の作用に
ついて説明する。第２図において、駆動モータＭ４を回
転させると、ハーモニックドライブ減速機９２によって
大きく減速されて円板９３が回転する。この円板９３の
回転が同軸差動機構１００の最内側軸１０１、回転用伝
動軸４１へと伝達される。さらに第１図において１回転
用伝動軸４１の前フランジに固着された手元ケーシング
４に伝達され、手元ケーシング４は前腕３に対して矢印
■で示す（第３図）両方向に旋回動作する。Next, the operation of the embodiment shown in FIGS. 1 and 2 will be explained. In FIG. 2, when the drive motor M4 is rotated, the speed is greatly reduced by the harmonic drive reducer 92, and the disk 93 rotates. The rotation of this disc 93 is transmitted to the innermost shaft 101 of the coaxial differential mechanism 100 and the rotation transmission shaft 41. Further, in FIG. 1, the power is transmitted to the hand casing 4 fixed to the front flange of the one-rotation transmission shaft 41, and the hand casing 4 pivots in both directions indicated by the arrow ■ (FIG. 3) relative to the forearm 3.
また、第２図において、駆動モータＭ８を回転させると
、モータ軸に軸継手８１によって連結された軸８２、さ
らには−組のプーリ８３，１０９および歯付ベルト８４
を介して同軸差動機構１００の第３重日輪１０３、さら
には−組の平歯車１１０゜１１１を介して曲げ用伝動軸
５１ｂ、軸継手４８を介して曲げ用伝動軸５１ａへと回
転が伝達される。さらに第１図において曲げ用伝動軸５
１ａに嵌着したユニバーサルジヨイント２００を介して
曲げ用駆動軸５２．−組の傘歯車５３．５４を介して方
向変換され軸５５へ伝達される。この軸５５の回転がハ
ーモニックドライブ減速機５６を介して大きく減速され
て中ケーシング５に伝達され、中ケーシング５が手元ケ
ーシング４に対して矢印■で示す（第３図）首振り旋回
動作する。なお、一般的にはこの首振り旋回動作の動作
量は、回転軸受７１，７２の軸心まわりに約２００°前
後に設定される。また、第２図において駆動モータＭｅ
を回転させるとモータ軸と軸継手８５によって連結され
た軸８８、さらには−組のプーリ８７．１０７および歯
付ベルト８８を介して同軸差動機構１００の第２重０軸
１０２、さらには−組の平歯車１０８，１１２を介して
ひねり用伝動軸６１ｂ、軸継手４９を介してひねり川伝
ＩＦＩＪ＠６１ａへと回転が伝達される。さらに第１図
においてひねり用伝動軸６１ａに嵌着したユニバーサル
ジヨイント２０１を介してひねり用駆動軸６２、−組の
傘歯車６３．６４を介して方向変換され。In addition, in FIG. 2, when the drive motor M8 is rotated, a shaft 82 connected to the motor shaft by a shaft coupling 81, furthermore, a set of pulleys 83, 109 and a toothed belt 84 are connected to the motor shaft.
Rotation is transmitted to the bending power transmission shaft 51b through the third double wheel 103 of the coaxial differential mechanism 100, and further through the - set of spur gears 110 and 111, and to the bending power transmission shaft 51a through the shaft coupling 48. be done. Furthermore, in Fig. 1, the bending transmission shaft 5
The bending drive shaft 52.1a is connected to the bending drive shaft 52. - is deflected and transmitted to the shaft 55 via a pair of bevel gears 53,54. The rotation of the shaft 55 is greatly reduced in speed and transmitted to the middle casing 5 via the harmonic drive reducer 56, and the middle casing 5 swings and turns relative to the hand casing 4 as indicated by the arrow ■ (FIG. 3). Note that, generally, the amount of movement of this swinging and turning operation is set to about 200 degrees around the axes of the rotary bearings 71 and 72. In addition, in FIG. 2, the drive motor Me
When rotated, the shaft 88 connected to the motor shaft by the shaft coupling 85, furthermore, the second heavy zero shaft 102 of the coaxial differential mechanism 100 via the set of pulleys 87, 107 and the toothed belt 88, and furthermore, the - The rotation is transmitted to the twist transmission IFIJ@61a via the pair of spur gears 108 and 112, the twist transmission shaft 61b, and the shaft coupling 49. Furthermore, in FIG. 1, the direction is changed via a universal joint 201 fitted to the twisting transmission shaft 61a, a twisting drive shaft 62, and a set of bevel gears 63 and 64.
ひねり用中軸６５へ、さらに傘歯車６６．６７を介して
再び方向変換されて軸６８へ伝達される。It is transmitted to the center shaft 65 for twisting, then changed direction again via bevel gears 66, 67 and transmitted to the shaft 68.
この軸６８の回転がハーモニックドライブ減速機６９を
介して大きく減速されて手先ケーシング６に伝達され、
手先ケーシング６が中ケーシング５に対して矢印■で示
す（第３図）旋回動作する。The rotation of this shaft 68 is greatly reduced through a harmonic drive reducer 69 and transmitted to the hand casing 6.
The hand casing 6 rotates relative to the middle casing 5 as indicated by the arrow ■ (FIG. 3).
上述した実施例によれば、中ケーシング５の首振り旋回
動作と手先ケーシング６の旋回動作を行なう動力伝達系
の最終段にハーモニックドライブ減速機５６．６９を設
けたので、このハーモニックドライブ減速機５６．６９
に至る傘歯車５３゜５４．６３，６４，６６．６７およ
び平歯車１１０゜１１１．１０８，１１２の噛合におけ
るバックラッシュは、減速化により縮小され、最終出力
部材たる中ケーシング５および手先ケーシング６の動作
においては無視し得るほどの微小なものとなり、位置決
め精度はよくなる。しかも、バックラッシュを除去する
ために要する組立時の労力も大幅に軽減される。また、
手元ケーシング４の矢印■方向（第３図）の旋回動作に
より平歯車１１０と１１１および１０８と１１２の噛合
によって生ずる相対運動は、それぞれハーモニックドラ
イブ減速機５６．６９により大きな減速比で減速され、
一方、中ケーシング５の矢印■方向（第３図）の首振り
旋回動作により傘歯車６６と６７の噛合いによって生ず
る相対運シＪは同じくハーモニックドライブ減速機６９
により減速されるため、出力軸の動作に対する影響はご
く小さな量に抑えることができる。従って図示しない制
御装置の演算によつて駆動モータＭｓ 、Ｍｅが行なう
本来不要な補正動作はごく微量であり、補正動作による
速度低下はほとんど生じない。また、中ケーシング５お
よび手先ケーシング６へ動力を伝達するために使用され
る平歯車、傘歯車、軸および軸受類は伝動が高速低トル
クで行なわれるため、小形のものを使用することができ
、手首部７および前腕３を小形軽量にできる。さらに、
同軸差動機構１００を前腕３の後端から突出した位置に
配置し、しかも短軸寸法の構成としたことと、前腕３内
部を貫通する３本の伝動軸４１．５１．６１を平行に配
置したことにより、中ケーシング５の首振り旋回動作と
手先ケーシング６の旋回動作を行なう動力伝達系それぞ
れは、他の動力伝達系の寸法の影響を受けず単独で寸法
諸元を決定できる。このことから、小形軽量化がより一
層促進でき、さらに′ｒＡ！ＩＩ！］モータＭ＾９Ｍ１
１の効率的な動力運用が可能にすることができる。また
回転川伝！ｌｌ＠４１の外周に高速低トルクの曲げ用伝
動軸５１およびひねり用伝勅４６１を平行配置し、回転
用伝動軸４１の両端に周設した前フランジ４２、後フラ
ンジ４３から軸承した構成としたことにより、伝動軸そ
れぞれの加工精度および組立、保守作業が３重軸構造の
従来方式に比べ簡便に行なえる。また、上述した平行配
置の＠構成に加え、高速伝動軸５１および６１を前腕の
軸方向略中間部で分割し、軸継手４８．４９で連結し、
回転軸受４４．４５および４６．４７で同軸用伝動＠４
１の外周から支持する構成によれば、自重によって変形
する小径の伝動軸５］、、６１を短いスパンで軸承でき
ることから、曲げ変形をごく小量に抑止できる。従って
曲げ変形した軸を高速回転させた場合に生ずる振動問題
及び軸受等の乃命問題が回避でき、さらに前腕３を畏く
する要求に対しても容易に対応できる。According to the embodiment described above, the harmonic drive reducer 56,69 is provided at the final stage of the power transmission system that performs the swinging movement of the middle casing 5 and the turning movement of the hand casing 6. .69
The backlash in the meshing of the bevel gears 53゜54.63, 64, 66.67 and the spur gears 110゜111, 108, 112 is reduced by deceleration, and the final output members, the middle casing 5 and the end casing 6, In operation, it is so small that it can be ignored, and the positioning accuracy is improved. Moreover, the labor required during assembly to eliminate backlash is also significantly reduced. Also,
The relative motion caused by the meshing of the spur gears 110 and 111 and 108 and 112 due to the rotational movement of the hand casing 4 in the arrow ■ direction (Fig. 3) is reduced by a large reduction ratio by the harmonic drive reducer 56, 69, respectively.
On the other hand, the relative movement J caused by the meshing of the bevel gears 66 and 67 due to the oscillating movement of the middle casing 5 in the arrow ■ direction (Fig. 3) is the same as that of the harmonic drive reducer 69.
Since the speed is reduced by , the influence on the operation of the output shaft can be suppressed to a very small amount. Therefore, the amount of unnecessary correction operations performed by the drive motors Ms and Me by the calculations of the control device (not shown) is very small, and the correction operation hardly causes any speed reduction. In addition, the spur gears, bevel gears, shafts, and bearings used to transmit power to the middle casing 5 and the hand casing 6 can be small because transmission is performed at high speed and low torque. The wrist portion 7 and forearm 3 can be made smaller and lighter. moreover,
The coaxial differential mechanism 100 is disposed at a position protruding from the rear end of the forearm 3, and has a short axis dimension, and the three transmission shafts 41, 51, and 61 passing through the inside of the forearm 3 are arranged in parallel. As a result, the dimensions of each power transmission system that performs the swinging motion of the middle casing 5 and the pivoting motion of the hand casing 6 can be independently determined without being influenced by the dimensions of other power transmission systems. From this, it is possible to further promote downsizing and weight reduction, and furthermore, 'rA! II! ] Motor M^9M1
1. Efficient power operation can be achieved. It’s Kaitenkawaden again! A high-speed, low-torque bending power transmission shaft 51 and a twisting power transmission shaft 461 are arranged in parallel on the outer periphery of ll@41, and are supported by front flanges 42 and rear flanges 43 provided around both ends of the rotational power transmission shaft 41. As a result, processing precision, assembly, and maintenance work for each transmission shaft can be performed more easily than in the conventional system with a triple shaft structure. In addition to the above-mentioned parallel configuration, the high-speed transmission shafts 51 and 61 are divided at approximately the midpoint in the axial direction of the forearm and connected by shaft joints 48 and 49,
Coaxial transmission @4 with rotating bearings 44.45 and 46.47
According to the configuration in which the transmission shaft 1 is supported from the outer periphery, the small-diameter power transmission shaft 5], 61, which deforms due to its own weight, can be supported in a short span, so that bending deformation can be suppressed to a very small amount. Therefore, problems of vibration and damage to bearings, etc. that would occur when a bent and deformed shaft is rotated at high speed can be avoided, and furthermore, demands that threaten the forearm 3 can be easily met.
さらに前腕３内部および手首部７内部の高速伝達系は各
部材の外壁近傍に配置でき、しかも前腕３には上述した
伝動軸５１ａと５１ｂおよび６１ａと６１ｂを連結する
部位に調整用窓３８，３９が設けであることから点検、
保守が容易に行なえる。Furthermore, the high-speed transmission system inside the forearm 3 and the inside of the wrist part 7 can be arranged near the outer wall of each member, and the forearm 3 has adjustment windows 38, 39 in the parts connecting the above-mentioned transmission shafts 51a and 51b and 61a and 61b. Since it is provided, check,
Maintenance is easy.
第４図および第５図は９本発明による工業用ロボットの
手首装置に他の実施例を示す略示機構図である。この図
において第１図および第２図と同符号のものは同一部品
である。なお、第４図は簡略のために第３図で示した手
首部７と前腕３の前半部のみを示したもので、第５図は
同様に第３図で示した手首動力部８と前腕３の後半部の
みを示したものである。第４図の実施例では、第１図に
示したユニバーサルジヨイント２００，２０１のかわり
に、２対の平歯車２０４と２０５および２０６と２０７
を用いて互いに平行に配置された曲げ用伝動軸５１ａと
曲げ用駆動軸５２およびひねり用伝動軸６１ａとひねり
用駆動軸６２間の動力伝達を行なうよう構成されている
。第５図の実施例では、後フランジ４３に平歯車２０９
を嵌着し、この平歯車２０９に噛合する平歯車２０８が
円板９３と一体の軸端部に嵌着されている。一方、同軸
差動機構１００の最内軸１０１の一方端は平歯車２０９
に固着されており、他方端は開放されている。なお、駆
動モータＭ４および図示しない駆動モータＭ８．Ｍｅは
モータ軸を前腕３のり方（図上左方）を向くようモータ
保持枠に取付けられている。この他の構成については第
２図に示した実施例と同じである。FIGS. 4 and 5 are schematic mechanical diagrams showing other embodiments of the wrist device for an industrial robot according to the present invention. In this figure, parts with the same symbols as in FIGS. 1 and 2 are the same parts. For simplicity, FIG. 4 shows only the wrist part 7 and the front half of the forearm 3 shown in FIG. 3, and FIG. 5 shows the wrist power part 8 and the forearm shown in FIG. Only the latter half of 3 is shown. In the embodiment of FIG. 4, two pairs of spur gears 204 and 205 and 206 and 207 are used instead of the universal joints 200 and 201 shown in FIG.
is used to transmit power between the bending transmission shaft 51a and the bending drive shaft 52, and between the twisting transmission shaft 61a and the twisting drive shaft 62, which are arranged parallel to each other. In the embodiment shown in FIG. 5, the spur gear 209 is attached to the rear flange 43.
A spur gear 208 that meshes with the spur gear 209 is fitted onto the shaft end integral with the disk 93. On the other hand, one end of the innermost shaft 101 of the coaxial differential mechanism 100 is connected to a spur gear 209.
The other end is open. Note that the drive motor M4 and the drive motor M8. Me is attached to the motor holding frame so that the motor shaft faces the direction of the forearm 3 (to the left in the figure). The other configurations are the same as the embodiment shown in FIG.
第４図および第５図に示す実施例は、同軸差動機構１０
０の最内軸１０１を介さないで、駆動モータＭ４の回転
を減速機９２１円板９３、−組の平歯車２０８，２０９
を介して後フランジ４３を周設する回転用伝動軸４１を
駆動する以外は第り図および第２図に示した実施例と基
本原理は同じであるが、歯付ベルト８４．８８の交換が
より簡単に行なうことができるという利点がある。The embodiment shown in FIGS. 4 and 5 has a coaxial differential mechanism 10.
The rotation of the drive motor M4 is controlled by the reduction gear 921, the disc 93, and the - pair of spur gears 208, 209 without passing through the innermost shaft 101 of the drive motor M4.
The basic principle is the same as that of the embodiment shown in FIG. It has the advantage of being easier to perform.
以上詳述したように、本発明によれば１手首部への動力
伝達手段として腕を貫通する伝動軸を互いに平行に配置
し、主たる第１の伝動軸外周に複数個のフランジを周設
し、第２の伝動軸および第３の伝動軸を前記フランジ間
で分割、軸承し、さらに軸継手に連結形成したこと、お
よび腕後端部に突出したモータ保持枠に駆動モータを取
付け、モータ保持枠内に短軸寸法の同軸差動機構を配置
したことにより、各伝動軸の口径は他の軸径に影響を受
けずに単独で決められ、軸イナーシャを最適にできる。As described in detail above, according to the present invention, power transmission shafts passing through the arms are arranged in parallel to each other as means for transmitting power to one wrist, and a plurality of flanges are provided around the outer periphery of the main first power transmission shaft. , the second transmission shaft and the third transmission shaft are divided and supported between the flanges, and further connected to the shaft coupling, and the drive motor is attached to the motor holding frame protruding from the rear end of the arm to hold the motor. By arranging the coaxial differential mechanism with the short axis dimension within the frame, the diameter of each transmission shaft can be determined independently without being influenced by the diameters of other shafts, and the shaft inertia can be optimized.
その結果、駆動モータの動力を効率的に運用することが
できる。また、伝動軸を互いに平行配置したことで各伝
動軸の軸受支持方法が簡略化できる。従って軸の加工９
組立、保守を簡便化することができる。また、高速回転
する伝動軸を短複数個所で分割、支持できることから伝
動軸の自重によって生ずる曲げ振動を極力抑止できる。As a result, the power of the drive motor can be used efficiently. Furthermore, by arranging the transmission shafts parallel to each other, the bearing support method for each transmission shaft can be simplified. Therefore, shaft machining 9
Assembly and maintenance can be simplified. Furthermore, since the transmission shaft rotating at high speed can be divided and supported at multiple short points, bending vibrations caused by the weight of the transmission shaft can be suppressed as much as possible.
その結果、腕の口径をさほど太くせずに腕の長さを長く
することも可能である。As a result, it is also possible to increase the length of the arm without increasing the diameter of the arm very much.
第１図は本発明の手首装置における手首部の一実施例を
示す横断面図、第２図は本発明の手首装置における手首
動力部の一実施例を示す横断面図。
第３図は本発明の手首装置を具備した工業用ロボットの
例として関節形ロボットの外形構造を示す斜視図、第４
図は本発明の手首装置における手首部の他の実施例を示
す横断面図、第５図は本発明の手首装置における手首動
力部の他の実施例を示す縦断面図である。FIG. 1 is a cross-sectional view showing an embodiment of the wrist portion in the wrist device of the present invention, and FIG. 2 is a cross-sectional view showing an embodiment of the wrist power portion in the wrist device of the present invention. FIG. 3 is a perspective view showing the external structure of an articulated robot as an example of an industrial robot equipped with the wrist device of the present invention;
FIG. 5 is a cross-sectional view showing another embodiment of the wrist portion in the wrist device of the present invention, and FIG. 5 is a longitudinal sectional view showing another embodiment of the wrist power unit in the wrist device of the present invention.
Claims (1)
回転自由度を有する手首部と、前記３つの回転自由度の
うち先の２つの回転自由度を駆動するために前記手首内
に設けられた手首動力伝達手段および高減速比を有する
減速機と、前記腕の内部に設けられた腕動力伝達手段と
、同軸差動機構と、駆動モータとを具備したロボットの
手首装置において、前記駆動モータをモータ保持枠を介
して前記腕の後端部に取付け、前記モータ保持枠内に前
記同軸差動機構を設け、前記腕動力伝達手段は前記腕の
内部を貫通する互いに平行な３本の伝動軸によつて構成
したことを特徴とするロボットの手首装置。 ２、前記３本の伝動軸によつて構成された腕動力伝達手
段は、主たる第１の伝動軸の外周に複数のフランジが周
設され、第２の伝動軸および第３の伝動軸が前記フラン
ジ間で分割、軸承されるとともに、軸継手によつて連結
形成されていることを特徴とする特許請求の範囲第１項
記載のロボットの手首装置。 ３、前記第２の伝動軸および第３の伝動軸が分割、軸承
の連結された個所の組立、保守用に、前記腕に開口部が
設けられたことを特徴とする特許請求の範囲第２項記載
のロボットの手首装置。 ４、前記手首動力伝達手段と、前記第２の伝動軸および
第３の伝動軸との動力伝達にユニバーサルジョイントを
用いたことを特徴とする特許請求の範囲第１項または第
２項記載のロボットの手首装置。[Claims] 1. A wrist portion attached to the tip of the arm at the base and having three degrees of rotational freedom perpendicular to each other, and for driving the first two rotational degrees of freedom of the three rotational degrees of freedom. A wrist of a robot comprising a wrist power transmission means provided in the wrist and a reducer having a high reduction ratio, an arm power transmission means provided inside the arm, a coaxial differential mechanism, and a drive motor. In the apparatus, the drive motor is attached to the rear end of the arm via a motor holding frame, the coaxial differential mechanism is provided in the motor holding frame, and the arm power transmission means is connected to each other passing through the inside of the arm. A robot wrist device characterized by comprising three parallel transmission shafts. 2. The arm power transmission means constituted by the three transmission shafts has a plurality of flanges around the outer periphery of the main first transmission shaft, and the second transmission shaft and the third transmission shaft are connected to the first transmission shaft. 2. The robot wrist device according to claim 1, wherein the robot wrist device is divided and supported by a shaft between flanges and connected by a shaft joint. 3. The second power transmission shaft and the third power transmission shaft are divided, and an opening is provided in the arm for assembly and maintenance of the connected portion of the bearing. The robot wrist device described in Section 1. 4. The robot according to claim 1 or 2, wherein a universal joint is used for power transmission between the wrist power transmission means and the second and third transmission shafts. wrist device.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61135968A JPH0641117B2 (en) | 1986-06-13 | 1986-06-13 | Robot wrist device |
| US07/060,349 US4787262A (en) | 1986-06-13 | 1987-06-10 | Wrist device of robot |
| DE8787108456T DE3770050D1 (en) | 1986-06-13 | 1987-06-11 | WRIST FOR ROBOTS. |
| EP87108456A EP0249232B1 (en) | 1986-06-13 | 1987-06-11 | Wrist device of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61135968A JPH0641117B2 (en) | 1986-06-13 | 1986-06-13 | Robot wrist device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS62292387A true JPS62292387A (en) | 1987-12-19 |
| JPH0641117B2 JPH0641117B2 (en) | 1994-06-01 |
Family
ID=15164067
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61135968A Expired - Lifetime JPH0641117B2 (en) | 1986-06-13 | 1986-06-13 | Robot wrist device |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US4787262A (en) |
| EP (1) | EP0249232B1 (en) |
| JP (1) | JPH0641117B2 (en) |
| DE (1) | DE3770050D1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH063591U (en) * | 1992-06-19 | 1994-01-18 | トキコ株式会社 | Driving force transmission device |
| JPH07328984A (en) * | 1993-12-27 | 1995-12-19 | Inst Advanced Engineering | Industrial robot |
| US7028578B2 (en) | 2002-04-11 | 2006-04-18 | Fanuc Ltd | Wrist driving mechanism for robot |
| JP2010269400A (en) * | 2009-05-21 | 2010-12-02 | Kawasaki Heavy Ind Ltd | Joint structure of robot and robot including the same |
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| DE3800703A1 (en) * | 1988-01-13 | 1989-08-03 | Beloit Corp | DEVICE FOR REWINDING RAILS |
| GB2215243B (en) * | 1988-02-24 | 1992-02-26 | Jobs Spa | A chuck head for automatic machine tools. |
| DE3939836A1 (en) * | 1988-12-02 | 1990-06-07 | Tokico Ltd | INDUSTRIAL ROBOT |
| US4976165A (en) * | 1989-07-14 | 1990-12-11 | Kabushiki Kaisha Kobe Seiko Sho | Backlash removing mechanism for industrial robot |
| JP2862634B2 (en) * | 1990-05-25 | 1999-03-03 | アスモ株式会社 | Ultrasonic motor |
| US5389849A (en) * | 1993-01-20 | 1995-02-14 | Olympus Optical Co., Ltd. | Tactility providing apparatus and manipulating device using the same |
| US5738481A (en) * | 1996-12-02 | 1998-04-14 | Rogers; Vincent | Universally actuable robot assembly |
| SE516023C2 (en) * | 1999-06-24 | 2001-11-12 | Abb Ab | Industrial robot comprising an gearbox configuration and method in an industrial robot |
| US7152456B2 (en) * | 2004-01-14 | 2006-12-26 | Romer Incorporated | Automated robotic measuring system |
| JP3988768B2 (en) * | 2004-12-16 | 2007-10-10 | セイコーエプソン株式会社 | Link drive mechanism and industrial robot using the same |
| WO2006085819A2 (en) * | 2005-02-11 | 2006-08-17 | Abb Ab | An industrial robot with several axes, with multistage transmission gears and prepared for working in an aggressive and limited working area |
| JP2007085530A (en) * | 2005-09-26 | 2007-04-05 | Nabtesco Corp | Hollow reduction gear |
| JP4148280B2 (en) * | 2005-10-18 | 2008-09-10 | セイコーエプソン株式会社 | Parallel link mechanism and industrial robot |
| JP4232795B2 (en) * | 2005-10-19 | 2009-03-04 | セイコーエプソン株式会社 | Parallel link mechanism and industrial robot |
| WO2007056790A1 (en) * | 2005-11-18 | 2007-05-24 | Newsouth Innovations Pty Ltd | A mechanical joint structure |
| US7673384B2 (en) * | 2006-04-27 | 2010-03-09 | Genesis Systems Group, Llc | Nut runner and hexabot robot |
| EP2340772B1 (en) * | 2008-08-12 | 2018-03-21 | NTN Corporation | Remote-controlled actuator |
| EP2361563A4 (en) | 2008-09-11 | 2015-04-08 | Ntn Toyo Bearing Co Ltd | Remote control actuator |
| WO2010137603A1 (en) * | 2009-05-29 | 2010-12-02 | Ntn株式会社 | Remotely operated actuator |
| US8498741B2 (en) * | 2009-09-22 | 2013-07-30 | Gm Global Technology Operations | Dexterous humanoid robotic wrist |
| CN102029608A (en) * | 2009-09-24 | 2011-04-27 | 鸿富锦精密工业（深圳）有限公司 | Robot |
| CN102049787B (en) * | 2009-11-06 | 2014-02-19 | 鸿富锦精密工业（深圳）有限公司 | Industrial robot using gear backlash adjusting device |
| TWI418452B (en) * | 2009-11-20 | 2013-12-11 | Ind Tech Res Inst | A wrist unit for an industrial robot |
| CN102079089A (en) * | 2009-11-30 | 2011-06-01 | 鸿富锦精密工业（深圳）有限公司 | Robot |
| CN102259337B (en) * | 2010-05-28 | 2013-11-06 | 鸿富锦精密工业（深圳）有限公司 | Robot arm component |
| CN103121216A (en) * | 2011-11-18 | 2013-05-29 | 鸿富锦精密工业（深圳）有限公司 | Robot arm part |
| CN103158160A (en) * | 2011-12-17 | 2013-06-19 | 鸿富锦精密工业（深圳）有限公司 | Robot arm component |
| DE102013206791A1 (en) * | 2013-04-16 | 2014-10-16 | Kuka Roboter Gmbh | Industrial robot with a arranged on a arm arm drive assembly |
| JP5975129B1 (en) | 2015-03-02 | 2016-08-23 | 株式会社安川電機 | robot |
| CN111390869A (en) * | 2019-01-02 | 2020-07-10 | 财团法人工业技术研究院 | Transmission device and mechanical arm |
| CN112894874B (en) * | 2021-01-25 | 2022-04-05 | 江西炫智教育科技有限公司 | Device for improving flexibility of intelligent robot manipulator |
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- 1987-06-11 EP EP87108456A patent/EP0249232B1/en not_active Expired - Lifetime
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH063591U (en) * | 1992-06-19 | 1994-01-18 | トキコ株式会社 | Driving force transmission device |
| JPH07328984A (en) * | 1993-12-27 | 1995-12-19 | Inst Advanced Engineering | Industrial robot |
| US7028578B2 (en) | 2002-04-11 | 2006-04-18 | Fanuc Ltd | Wrist driving mechanism for robot |
| JP2010269400A (en) * | 2009-05-21 | 2010-12-02 | Kawasaki Heavy Ind Ltd | Joint structure of robot and robot including the same |
Also Published As
| Publication number | Publication date |
|---|---|
| US4787262A (en) | 1988-11-29 |
| EP0249232B1 (en) | 1991-05-15 |
| EP0249232A1 (en) | 1987-12-16 |
| DE3770050D1 (en) | 1991-06-20 |
| JPH0641117B2 (en) | 1994-06-01 |
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